Wind power tower cylinder rust removal robot and wind power tower cylinder rust removal equipment

Abstract

The present application provides a kind of wind power tower cylinder rust removal robot and wind power tower cylinder rust removal equipment, belong to portable power tool field.Rust removal robot includes robot body, magnetic attraction wheel and rotary joint, rotary joint is connected with sand blasting pipeline and negative pressure recovery pipeline, and forms sand blasting port and the negative pressure recovery cavity that is set around sand blasting port, flexible abutment ring is formed with tower cylinder surface and is surrounded to form negative pressure recovery space, realize sand blasting rust removal and waste recovery simultaneously;Rotary joint can also be provided with elastic ball, to reduce the moving resistance and keep the negative pressure sealing effect.Rust removal equipment includes circulating recovery sand blasting machine, hoisting mechanism and above-mentioned rust removal robot, circulating recovery sand blasting machine can realize the supply, recovery and recycling of rust removal sand, hoisting mechanism is used to transport equipment to operating height.To improve the quality of wind power tower cylinder rust removal and operation efficiency, reduce sand blasting medium waste and dust dispersion, and be favorable to keep the adsorption performance of magnetic attraction wheel, improve the stability and reliability of high-altitude rust removal operation.

Description

Technical Field

[0001] This invention belongs to the field of portable motorized tools, and more specifically, it relates to a wind turbine tower rust removal robot. This invention also relates to a wind turbine tower rust removal device. Background Technology

[0002] Wind power, as an important component of clean energy, boasts advantages such as abundant resources, environmental friendliness, and sustainable utilization, and has experienced rapid development in recent years, with widespread application in onshore and offshore wind farms. Wind turbine towers, as crucial load-bearing structures of wind turbine generators, support components such as the nacelle and rotor. Exposed to the natural environment for extended periods, the anti-corrosion coating on the tower surface gradually ages, cracks, and even peels off under the combined effects of rain, humidity, salt spray, sandstorms, ultraviolet radiation, and diurnal temperature variations. This exposes the metal substrate directly to the external environment, leading to corrosion. If rusted areas are not promptly maintained, not only will the overall corrosion resistance of the tower be affected, but further corrosion may also occur, shortening the tower's lifespan. Therefore, regular rust removal and recoating of the anti-corrosion coating are necessary to restore the tower's corrosion resistance.

[0003] Currently, rust removal operations on wind turbine towers are mainly carried out manually or with mechanical assistance. Manual work typically requires the use of aerial work platforms, hoisting platforms, and other high-altitude equipment, employing grinding tools, wire brushes, or sandblasting equipment to clean rusted areas. With the development of automation technology, rust removal robots capable of adhering to and moving along the tower surface have also emerged. These robots, carrying rust-removing brushes, move along the tower surface to complete the rust removal work in the corresponding areas, thereby reducing the intensity of manual high-altitude work and improving the level of automation in the construction process.

[0004] However, with the increasing number of wind turbine units and the rising maintenance requirements, existing wind turbine tower rust removal equipment still has certain shortcomings in practical applications. For example, there is still room for improvement in terms of rust removal quality, operating efficiency, continuous operation capability, operational stability, and adaptability to the construction environment. Furthermore, the handling of waste generated during rust removal, improvement of the construction environment, and reliable operation during the process also need further refinement. Therefore, existing technology is still insufficient to fully meet the actual needs of high-quality, high-efficiency, and continuous maintenance of wind turbine towers. Summary of the Invention

[0005] The purpose of this invention is to provide a wind turbine tower rust removal robot to solve the technical problem that existing wind turbine tower rust removal equipment cannot fully meet the actual needs of high-quality, high-efficiency and continuous maintenance operations of wind turbine towers.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: to provide a wind turbine tower rust removal robot, comprising: The robot itself; Multiple walking wheels are mounted on the robot body and configured to roll along the surface of the wind turbine tower, wherein the walking wheels are magnetic wheels; A rotary joint, with its axis perpendicular to the outer surface of the tower, is rotatably mounted on the robot body. One side of the rotary joint is positioned facing the surface of the wind turbine tower, and the top of the other side of the rotary joint is connected to a sandblasting pipe and a negative pressure recovery pipe. A sandblasting nozzle is formed on the side of the rotary joint facing the surface of the wind turbine tower, and the sandblasting nozzle is connected to the sandblasting pipe. A negative pressure recovery chamber is provided inside the rotary joint, arranged around the sandblasting nozzle, and the negative pressure recovery chamber is connected to the negative pressure recovery pipe.

[0007] Furthermore, the rotary joint has a flexible abutment ring on the side facing the wind turbine tower surface. The flexible abutment ring is arranged along the outer periphery of the rotary joint and is used to abut against the wind turbine tower surface to enclose and form the negative pressure recovery space.

[0008] Furthermore, the side of the sandblasting nozzle facing the surface of the wind turbine tower is provided with a plurality of elastic balls. The plurality of elastic balls are arranged at intervals around the outer periphery of the rotary joint and can elastically extend and retract along the axial direction of the rotary joint. The rolling surface of the elastic balls extends out of the side of the sandblasting nozzle facing the surface of the wind turbine tower.

[0009] Furthermore, the rotary joint also includes a ball retaining sleeve and a support spring. The ball retaining sleeve is fitted around the outer periphery of the bottom of the rotary joint, and each of the elastic balls is disposed inside the ball retaining sleeve. The support spring is fitted around the outer periphery of the bottom of the rotary joint and is configured to have a preload force that brings the ball retaining sleeve close to the surface of the tower.

[0010] Furthermore, the flexible abutment ring is made of non-woven fabric, sponge, or elastic foam.

[0011] Furthermore, the outer periphery of the magnetic roller is provided with a plurality of anti-slip protrusions spaced apart along its circumference, and the anti-slip protrusions are made of rubber material.

[0012] Furthermore, there are four walking wheels distributed in a rectangular shape on the robot body. Each walking wheel is in pairs, and at least one pair is a drive wheel and at least one pair is a steering wheel.

[0013] Compared with existing technologies, the beneficial effects of the wind turbine tower rust removal robot provided by this invention are as follows: The wind turbine tower rust removal robot provided in this application uses magnetic wheels as its walking mechanism, enabling it to reliably adhere to the inner or outer wall of the wind turbine tower and move stably on the tower surface. Compared to manual high-altitude rust removal, it reduces the risks of high-altitude operations while improving the continuity and automation of rust removal work. The robot integrates sandblasting and negative pressure recovery into the same rotary joint. The sandblasting nozzle concentrates the rust-removing sand onto the rusted area, quickly removing the rust layer and aged paint layer. The negative pressure recovery chamber forms a negative pressure recovery zone around the sandblasting area, allowing the rust-removing sand, rust particles, and paint debris to be recovered promptly after generation, reducing waste scattering and dust diffusion, improving the cleanliness of the rust-removing area, and reducing the loss of sandblasting media. This provides a cleaner substrate surface for subsequent anti-rust coating application, which is beneficial for improving the bonding effect between the anti-rust coating and the tower surface and extending the anti-corrosion life.

[0014] Furthermore, a flexible abutment ring is installed at the bottom of the rotary joint, which can adapt to the curvature and local unevenness of the tower surface, forming a relatively closed negative pressure recovery space together with the tower, thereby improving the negative pressure recovery efficiency. Elastic balls are arranged around the periphery of the sandblasting area, forming rolling contact with the tower during robot movement. This not only supports the rotary joint and prevents the flexible abutment ring from being over-compressed due to negative pressure, but also converts sliding friction into rolling friction, reducing robot walking resistance while ensuring a sealing effect, allowing the robot to complete continuous rust removal operations more smoothly. The ball retainer sleeve and support spring further ensure that the elastic balls always adhere to the tower surface, improving the robot's adaptability to welds, local protrusions, and surface undulations, and maintaining the stability of the negative pressure recovery space.

[0015] In addition, rubber anti-slip protrusions are set on the outer periphery of the magnetic chuck, which not only ensures the magnetic adsorption capacity but also further increases the friction between the wheel and the tower, enhancing the robot's walking stability on vertical walls and curved surfaces. Because this application simultaneously recovers rust particles and waste paint during sandblasting, it effectively reduces the amount of ferromagnetic particles remaining on the tower surface, lowering the possibility of the magnetic chuck adsorbing rust and impurities. This helps maintain the magnetic chuck's adsorption capacity and walking performance, avoiding a decrease in magnetic adsorption capacity or slippage due to impurities adhering to the wheel. Overall, this application achieves an organic combination of sandblasting rust removal, waste recycling, and stable walking, improving the rust removal quality, work efficiency, and robot operational reliability of wind turbine towers. It solves problems such as insufficient rust removal effect, difficulty in timely waste recycling, susceptibility of the magnetic chuck to rust contamination, and poor stability during continuous high-altitude operations in existing rust removal robots.

[0016] Another object of the present invention is to provide a rust removal device for wind turbine towers, comprising: A recycling sandblasting machine includes a sandblasting supply tank, a cyclone separator, and a dust removal device; Lifting mechanism; And the wind turbine tower rust removal robot mentioned above; The sandblasting supply tank is connected to the sandblasting pipeline, the recovery end of the cyclone separator is connected to the negative pressure recovery pipeline, the rust removal sand discharge end at the bottom of the cyclone separator is connected to the sandblasting supply tank, the dust discharge end at the top of the cyclone separator is connected to the dust removal device, and the lifting mechanism is used to lift the circulating recovery sandblasting machine and the wind turbine tower rust removal robot to the working height of the wind turbine tower, so that the wind turbine tower rust removal robot can move to the surface of the wind turbine tower to perform rust removal operations.

[0017] Furthermore, the lifting mechanism includes a transport platform, on which the wind turbine tower rust removal robot is positioned during the lifting process.

[0018] Furthermore, a transition plate is provided on one side of the transport platform for connecting and transitioning with the outer surface of the wind turbine tower.

[0019] Compared with the prior art, the wind turbine tower rust removal equipment of the present invention has all the advantages of the aforementioned wind turbine tower rust removal robot, which will not be elaborated here.

[0020] Furthermore, the wind turbine tower rust removal equipment provided in this application combines a recycling sandblasting machine, a lifting mechanism, and a wind turbine tower rust removal robot to form a high-altitude rust removal system integrating transportation, rust removal, recycling, and reuse. The lifting mechanism can transport the recycling sandblasting machine and rust removal robot as a whole to the designated working height. The robot is then moved from the transport platform to the tower surface to carry out rust removal operations, reducing the workload of manually carrying equipment and climbing to high altitudes, and improving the safety and organizational efficiency of high-altitude rust removal operations. The recycling sandblasting machine continuously supplies rust-removing sand to the robot through a sandblasting supply tank. After the robot completes sandblasting and rust removal, the waste paint layer, rust particles, and sandblasting medium are recycled under negative pressure and enter the cyclone separator.

[0021] The cyclone separator returns the reusable rust-removing sand to the sandblasting supply tank, realizing the recycling of sandblasting media. Dust and fine impurities are centrally treated by the dust removal device, which reduces the consumption of sandblasting media, reduces dust pollution at the construction site, and improves continuous operation capability and economy.

[0022] The transport platform and transition plate further ensure that the robot can move smoothly between the transport platform and the outer surface of the tower, reducing the risk of impact, jamming, or falling when the robot goes up and down the platform, and improving the overall operational reliability of the equipment. Through the coordinated operation of the above components, this application realizes the automation, continuity, and cyclical operation of high-altitude rust removal of wind turbine towers, improving rust removal efficiency and construction quality, while also reducing labor intensity and construction costs. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In the drawings: Figure 1 A schematic diagram of the overall structure of the wind turbine tower rust removal robot provided by the present invention; Figure 2 A schematic diagram of the overall structure of the wind turbine tower rust removal robot provided by the present invention from another perspective; Figure 3 This is a partial cross-sectional schematic diagram of the rotary joint in the wind turbine tower rust removal robot of the present invention; Figure 4 This is a schematic diagram of the overall structure of the wind turbine tower rust removal equipment in this invention.

[0024] In the picture: 1. Robot body; 2. Wheels; 21. Anti-slip protrusions; 3. Rotary joint; 31. Sandblasting pipeline; 310. Sandblasting nozzle; 32. Negative pressure recovery pipeline; 33. Flexible abutment ring; 34. Elastic ball; 35. Ball retainer sleeve; 36. Support spring; 4. Recycled sandblasting machine; 41. Sandblasting supply tank; 42. Cyclone separator; 43. Dust removal device; 5. Lifting mechanism; 51. Transport platform; 52. Transition plate. Detailed Implementation

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0026] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "back" appear, indicating orientation or positional relationship, they are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0027] Furthermore, in the description of this invention, unless otherwise explicitly defined, the terms "installation," "connection," "joining," and "connector" should be interpreted broadly. For example, a connection can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention in light of the specific circumstances.

[0028] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0029] When existing wind turbine towers develop rust on their inner or outer walls, a rust-preventive coating is typically applied to cover and seal the rust, preventing it from spreading further. When the rust is large, manual climbing or a climbing robot combined with a rust-removing brush is usually used to clean the rusted area.

[0030] However, existing rust removal robots suffer from insufficient connection strength between the robot body 1 and the tower, resulting in insufficient cleaning power of the rust removal brush on the tower surface. Stubborn rust cannot be effectively cleaned, and loose rust easily remains on the tower surface, which adversely affects the rust prevention effect of the subsequent anti-rust paint.

[0031] Please refer to the following for the above questions. Figures 1 to 3 The present invention provides a wind turbine tower rust removal robot. This wind turbine tower rust removal robot includes a robot body 1, multiple wheels 2 mounted on the robot body 1, and a rotary joint 3. The robot body 1 serves as an integrated platform, and each wheel 2 is mounted on the robot body 1 and configured to roll along the surface of the wind turbine tower. To enable stable movement of the robot on the outer surface of the tower, the wheels 2 are magnetically assisted. The axis of the rotary joint 3 is perpendicular to the outer surface of the tower, and the rotary joint 3 is rotatably mounted on the robot body 1 to maintain stability during robot turning. One side of the rotary joint 3 faces the surface of the wind turbine tower, and the top of the other side of the rotary joint 3 is connected to a sandblasting pipe 31 and a negative pressure recovery pipe 32. A sandblasting nozzle 310 is formed on the side of the rotary joint 3 facing the wind turbine tower surface, and the sandblasting nozzle 310 is connected to the sandblasting pipe 31. A negative pressure recovery chamber is provided inside the rotary joint 3, surrounding the sandblasting nozzle 310, and the negative pressure recovery chamber is connected to the negative pressure recovery pipe 32.

[0032] In the above embodiment, by setting the robot as a magnetic walking structure, the robot can stably adhere to the inner or outer wall of the wind turbine tower and has continuous movement capability. The rotary joint 3, as an integrated component of the sandblasting and recycling system, can concentrate the high-speed sprayed rust-removing sand onto the area to be treated through the sandblasting nozzle 310, achieving rapid removal of rust and aged paint layers. On the other hand, the negative pressure recycling chamber arranged around the sandblasting area can form a negative pressure recycling area around the sandblasting area, timely sucking away the sprayed rust-removing sand, rust particles, and waste paint layers, realizing simultaneous sandblasting and rust removal and waste recycling.

[0033] Since sandblasting and recycling are both completed within the same rotary joint 3, it can reduce the outward diffusion of dust and sand during the rust removal process, improve the rust removal efficiency, and prevent a large number of rust particles and paint chips from remaining on the tower surface and being attracted by the magnetic suction wheel. This helps maintain the magnetic suction wheel's adsorption capacity and rolling performance, thereby solving the problems of poor rust removal effect, large amount of waste residue, and easy adhesion of ferromagnetic impurities to the magnetic suction wheel, which leads to a decrease in operational reliability of existing rust removal robots.

[0034] Based on the above embodiments, more preferably, the rotary joint 3 is provided on the side facing the wind turbine tower surface as shown in the image. Figure 3 The flexible abutment ring 33 shown is arranged along the outer periphery of the rotary joint 3 and is used to abut against the surface of the wind turbine tower to enclose and form a negative pressure recovery space.

[0035] As configured above, in the specific implementation process of the above embodiment, the flexible abutment ring 33 can form a flexible seal between the rotary joint 3 and the tower surface. It can adapt to the curvature changes and local undulations of the tower surface, and reduce the wear of the tower surface caused by hard contact. When the negative pressure recovery system is working, the flexible abutment ring 33 and the tower together enclose a relatively closed negative pressure area, so that the negative pressure is concentrated near the sandblasting area, improving the waste recovery efficiency, reducing the leakage of sandblasting media and dust diffusion, thereby improving the rust removal working environment, and improving the recycling rate of sandblasting media. This solves the problems of serious sand scattering and low recovery efficiency in the existing open sandblasting process.

[0036] To maintain a stable distance between the sandblasting nozzle 310 and the outer surface of the tower to be derusted, in a preferred embodiment (e.g. Figure 3 As shown), the sandblasting nozzle 310 is provided with a plurality of elastic balls 34 on the side facing the surface of the wind turbine tower. The plurality of elastic balls 34 are arranged at intervals around the outer periphery of the rotary joint 3 and can elastically extend and retract along the axial direction of the rotary joint 3. The rolling surface of the elastic balls 34 extends out of the side of the sandblasting nozzle 310 facing the surface of the wind turbine tower.

[0037] In this embodiment, during robot movement, each ball bearing forms rolling contact with the tower surface, providing support for the rotary joint 3. Since rolling friction replaces the sliding friction between the rotary joint 3 and the tower, the robot's movement resistance is significantly reduced. Simultaneously, under negative pressure, the elastic ball bearings 34 also limit the rotary joint 3 from getting too close to the tower, maintaining a suitable degree of compression on the flexible abutment ring 33. This ensures a good seal while preventing excessive frictional resistance from excessive compression of the flexible abutment ring 33, thus balancing sealing performance and movement performance, and solving the problem that negative pressure sealing structures easily lead to increased robot movement resistance.

[0038] Regarding the ball bearings mentioned above, in a preferred embodiment, the rotary joint 3 further includes, as... Figure 3 The ball retaining sleeve 35 and the support spring 36 are shown. The ball retaining sleeve 35 is fitted around the outer periphery of the bottom of the rotary joint 3, and each elastic ball 34 is disposed inside the ball retaining sleeve 35. The support spring 36 is fitted around the outer periphery of the bottom of the rotary joint 3 and is configured to have a preload force that brings the ball retaining sleeve 35 close to the surface of the tower. In this embodiment, the ball retaining sleeve 35 can uniformly install and guide multiple elastic balls 34. The support spring 36 continuously applies a preload force towards the tower to the ball retaining sleeve 35, so that the elastic balls 34 can always maintain stable contact with the surface of the tower. When the robot passes through the tower weld, local protrusions, or slight depressions, the ball retaining sleeve 35 can axially float as a whole under the action of the support spring 36, so that each elastic ball 34 continues to adhere to the surface of the tower. This not only improves the stability of the rolling support, but also ensures that the flexible abutment ring 33 always maintains a good sealing state, thereby further improving the continuity and stability of the sandblasting recovery process.

[0039] Based on the above embodiments, in a preferred embodiment, the flexible abutment ring 33 is made of non-woven fabric, sponge, or elastic foam. While forming a seal, it can adapt to the curvature changes of towers of different specifications, making the recovered airflow more concentrated and reducing frictional damage to the tower surface.

[0040] In addition to the feasible implementation methods described above, in a preferred embodiment, the outer periphery of the magnetic chuck is provided with a plurality of anti-slip protrusions 21 spaced apart along its circumference. The anti-slip protrusions 21 are made of rubber. In this embodiment, after the rubber anti-slip protrusions 21 are provided on the outer periphery of the magnetic chuck, when the magnetic chuck is adsorbed onto the surface of the tower, the anti-slip protrusions 21 can undergo a certain degree of elastic deformation, increasing the actual contact area and friction between the magnetic chuck and the tower, thereby improving the robot's walking stability on vertical tower walls and curved surfaces.

[0041] Meanwhile, the rubber material can buffer local unevenness on the tower surface, reduce slippage during movement, and enable the robot to maintain stable movement under the reaction force of sandblasting, thereby improving the continuity of the rust removal trajectory.

[0042] In a preferred embodiment, four walking wheels 2 are arranged in a rectangular pattern on the robot body 1. Each walking wheel 2 is paired up, with at least one pair being a drive wheel and at least one pair being a steering wheel. The rectangular arrangement of the four walking wheels in this embodiment allows the robot to achieve a larger support span, improving overall operational stability. The drive wheels provide the walking power, while the steering wheels adjust the direction of movement. Together, they enable the robot to move both axially and circumferentially along the tower, adapting to different rust removal paths.

[0043] Based on the same inventive concept, another objective of this invention is to provide a rust removal device for wind turbine towers (such as...). Figure 4 As shown, the wind turbine tower rust removal equipment includes a recycling sandblasting machine 4, a lifting mechanism 5, and the wind turbine tower rust removal robot mentioned above. The recycling sandblasting machine 4 includes a sandblasting supply tank 41, a cyclone separator 42, and a dust removal device 43. The sandblasting supply tank 41 is connected to the sandblasting pipeline 31, the recovery end of the cyclone separator 42 is connected to the negative pressure recovery pipeline 32, the rust removal sand discharge end at the bottom of the cyclone separator 42 is connected to the sandblasting supply tank 41, and the dust discharge end at the top of the cyclone separator 42 is connected to the dust removal device 43. The lifting mechanism 5 is used to lift the recycling sandblasting machine 4 and the wind turbine tower rust removal robot to the working height of the wind turbine tower so that the wind turbine tower rust removal robot can move to the surface of the wind turbine tower to perform rust removal operations.

[0044] In the specific implementation process of the above-described embodiment, the recycling sandblasting machine 4 continuously supplies rust-removing sand to the robot through the sandblasting supply tank 41. After the mixture is sprayed, it is recovered under negative pressure and enters the cyclone separator 42. Under the action of cyclone separation, the larger rust-removing sand particles are returned to the sandblasting supply tank 41 for recycling, while rust particles, paint debris and fine dust are centrally processed by the dust removal device 43, thus forming a complete sandblasting, recycling, separation and recycling process.

[0045] Meanwhile, the lifting mechanism 5 can transport the recycling sandblasting machine 4 and the rust removal robot as a whole to the designated working height. The robot then moves autonomously to the surface of the tower to perform rust removal operations. The entire equipment organically combines high-altitude transportation, sandblasting rust removal, and sand recycling, which not only reduces the intensity of manual high-altitude work but also reduces the consumption of sandblasting media, improves continuous operation capability, and solves the problems of inconvenient transportation, low rust removal efficiency, and serious waste of sandblasting media in existing high-altitude rust removal equipment.

[0046] Based on the above, in a preferred embodiment, the lifting mechanism 5 includes a transport platform 51, on which the wind turbine tower rust removal robot is positioned during lifting. In this embodiment, the transport platform 51 provides a stable bearing position for the rust removal robot, supporting and protecting it during lifting to prevent swaying or collisions caused by suspension transport, thus improving stability during transport. Once the equipment reaches the designated height, the robot can directly leave the transport platform 51 and enter the tower surface to begin operations, without additional hoisting or manual handling, which helps shorten preparation time and improves high-altitude operation efficiency.

[0047] For the transport platform 51, in a preferred embodiment, a transition plate 52 is provided on one side of the transport platform 51 to facilitate robot movement and transition to the outer surface of the wind turbine tower. The transition plate 52, positioned at the edge of the transport platform 51, forms a continuous transition channel between the transport platform 51 and the outer surface of the tower. When the robot leaves the transport platform 51, it can smoothly transition to the tower surface via the transition plate 52, reducing the impact and tire suspension caused by height differences or gaps between the platform and the tower, lowering the risk of the robot falling off the platform, and improving the safety and reliability of equipment transport in high-altitude environments. Overall, the cooperation between the transport platform 51 and the transition plate 52 enables the robot to switch from transport mode to operation mode more safely and smoothly.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A rust removal robot for wind turbine towers, characterized in that, include: Robot body (1); Multiple walking wheels (2) are provided on the robot body (1) and configured to roll along the surface of the wind turbine tower, wherein the walking wheels (2) are magnetic wheels; A rotary joint (3) is rotatably mounted on the robot body (1) with its axis perpendicular to the outer surface of the tower. One side of the rotary joint (3) is set facing the surface of the wind turbine tower. The top of the other side of the rotary joint (3) is connected to a sandblasting pipe (31) and a negative pressure recovery pipe (32). A sandblasting nozzle (310) is formed on the side of the rotary joint (3) facing the surface of the wind turbine tower. The sandblasting nozzle (310) is connected to the sandblasting pipe (31). A negative pressure recovery chamber is provided inside the rotary joint (3) and arranged around the sandblasting nozzle (310). The negative pressure recovery chamber is connected to the negative pressure recovery pipe (32).

2. The wind turbine tower rust removal robot as described in claim 1, characterized in that, The rotary joint (3) is provided with a flexible abutment ring (33) on the side facing the wind turbine tower surface. The flexible abutment ring (33) is arranged along the outer periphery of the rotary joint (3) and is used to abut against the wind turbine tower surface to enclose and form the negative pressure recovery space.

3. The wind turbine tower rust removal robot as described in claim 2, characterized in that, The sandblasting nozzle (310) is provided with a plurality of elastic balls (34) on the side facing the surface of the wind turbine tower. The plurality of elastic balls (34) are arranged at intervals around the outer periphery of the rotary joint (3) and can elastically extend and retract along the axial direction of the rotary joint (3). The rolling surface of the elastic balls (34) extends out of the side of the sandblasting nozzle (310) facing the surface of the wind turbine tower.

4. The wind turbine tower rust removal robot as described in claim 3, characterized in that, The rotary joint (3) further includes a ball retainer sleeve (35) and a support spring (36). The ball retainer sleeve (35) is fitted around the bottom of the rotary joint (3). Each of the elastic balls (34) is located inside the ball retainer sleeve (35). The support spring (36) is fitted around the bottom of the rotary joint (3) and is configured to have a preload force that brings the ball retainer sleeve (35) close to the surface of the tower.

5. The wind turbine tower rust removal robot as described in claim 2, characterized in that, The flexible abutment ring (33) is made of non-woven fabric, sponge or elastic foam.

6. The wind turbine tower rust removal robot as described in claim 1, characterized in that, The magnetic roller has multiple anti-slip protrusions (21) spaced apart along its circumference on its outer periphery. The anti-slip protrusions (21) are made of rubber.

7. The wind turbine tower rust removal robot as described in claim 1, characterized in that, The walking wheels (2) are four in a rectangular arrangement on the robot body (1). Each walking wheel (2) is in pairs, and at least one pair is a drive wheel and at least one pair is a steering wheel.

8. A rust removal device for wind turbine towers, characterized in that, include: The recycling sandblasting machine (4) includes a sandblasting supply tank (41), a cyclone separator (42), and a dust removal device (43). Lifting mechanism (5); And a wind turbine tower rust removal robot as described in any one of claims 1 to 7; The sandblasting supply tank (41) is connected to the sandblasting pipeline (31), the recovery end of the cyclone separator (42) is connected to the negative pressure recovery pipeline (32), the rust removal sand discharge end at the bottom of the cyclone separator (42) is connected to the sandblasting supply tank (41), the dust discharge end at the top of the cyclone separator (42) is connected to the dust removal device (43), and the lifting mechanism (5) is used to lift the circulating recovery sandblasting machine (4) and the wind turbine tower rust removal robot to the working height of the wind turbine tower so that the wind turbine tower rust removal robot can move to the surface of the wind turbine tower to perform rust removal operations.

9. The wind turbine tower rust removal equipment as described in claim 8, characterized in that, The lifting mechanism (5) includes a transport platform (51), on which the wind turbine tower rust removal robot is located during the lifting process.

10. The wind turbine tower rust removal equipment as described in claim 8, characterized in that, The transport platform (51) has a transition plate (52) on one side for connecting and transitioning with the outer surface of the wind turbine tower.

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